#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <std_msgs/String.h>
#include <stereo_msgs/DisparityImage.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/Image.h>

#include <pcl/point_types.h>
#include <pcl/features/normal_3d.h>
#include <math.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/ply_io.h>
#include <pcl/filters/filter_indices.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>

void depth_cb(const sensor_msgs::ImageConstPtr& msg){



}

int main (int argc, char** argv)
{
    // Initialize ROS
    ros::init (argc, argv, "sub_test");//声明节点的名称
    ros::NodeHandle nh;


    ros::Subscriber sub_test = nh.subscribe<sensor_msgs::Image> ("cam1/depth", 1, depth_cb);

    // Spin
    ros::spin ();

//    ros::Rate loop_rate(5);
//    while (ros::ok())
//    {
//        /*...TODO...*/
//
//        ros::spinOnce();
//        loop_rate.sleep();
//    }

}